CN109708661B - Visual axis inertia stabilization method of inertia stabilization equipment with two-axis frame - Google Patents
Visual axis inertia stabilization method of inertia stabilization equipment with two-axis frame Download PDFInfo
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Abstract
The invention discloses a visual axis inertial stabilization method of inertial stabilization equipment with two-axis frames d And a pitch angle E d (ii) a Acquiring a roll angle gamma and a pitch angle theta of a carrier where inertial stabilization equipment output by navigation equipment is located in real time; solving the final roll angle R in the two-axis frame angle end (ii) a Based on the final roll angle R end Solving the final pitch angle E in the two-axis frame angle end (ii) a Finally, the roll angle measurement value R and the pitch angle measurement value E of the two-axis frame which are collected in real time are combined with the final roll angle R end And final pitch angle E end The following formula is adopted to solve the rolling compensation angle R c And compensation angle of pitch E c And provides the angle control device for the two-axis frame. The invention can improve the stable precision of the visual axis.
Description
Technical Field
The invention relates to a control method of inertia stabilizing equipment, in particular to a visual axis inertia stabilizing method of inertia stabilizing equipment with a two-axis frame.
Background
The terminal guidance system and the radar are inertial stabilization equipment needing visual axis stabilization. The terminal guidance system cannot achieve the purpose of accurate striking after tracking a lost target under the conditions of strong gust and strong interference; the radar of the ship can not ensure the stability of the visual axis because of the swinging of the ship body, and can not accurately scan or track the target. Therefore, the inertial stabilization equipment such as an end guidance system and a radar containing a frame structure needs to be stably controlled in the visual axis of the equipment.
In the prior art, the visual axis inertial stabilization method is basically to install a goniometer on a frame and then carry out position closed-loop control according to the detection quantity of the goniometer. But the position closed-loop control is only carried out based on the detection quantity of the goniometer, and the stability and the precision are not high; and the frame is the diaxon frame construction at least, there are many compound modes again according to the inside and outside precedence of installation frame, this has brought the influence for high accuracy stable control.
Disclosure of Invention
In view of the above, the present invention provides a method for stabilizing the visual axis inertia of an inertia stabilizing apparatus having a two-axis frame, which can improve the visual axis stabilizing accuracy.
In order to solve the technical problem, the invention is realized as follows:
A method of apparent axis inertial stabilization of an inertial stabilization device having a two-axis frame, comprising:
step one, obtaining the roll angle R of the visual axis of the two-axis frame under the geographic coordinate system through a manual setting mode or a preset algorithm d And a pitch angle E d ；
Step two, acquiring a roll angle gamma and a pitch angle theta of a carrier where inertial stabilization equipment output by navigation equipment is located in real time;
step three, solving a final roll angle R in the two-axis frame angle by using a formula (I) end ：
-sin R end ＝sinγcos R d -cosγcosθsin R d (I)
Step four, based on the final roll angle R end Solving the final pitch angle E in the two-shaft frame angle by using a formula (II) end ：
cos E end cos R end ＝-sinθcosγcos E d +cosγcosθsin E d (II)
Step five, utilizing the roll angle measured value R and the pitch angle measured value E of the two-axis frame which are collected in real time to combine with the final roll angle R end And final pitch angle E end The following formula is adopted to solve the rolling compensation angle R c And compensation angle of pitch E c And providing the angle control device for the two-axis frame:
R c ＝R end -R
E c ＝E end -E。
preferably, in the step one, the roll angle R of the visual axis of the two-axis frame in the geographic coordinate system is obtained through a preset algorithm d And a pitch angle E d Comprises the following steps:
acquiring roll angle measurement value R of primary two-axis frame 0 And a measured value of pitch angle E 0 And a roll angle measurement gamma of a carrier on which the inertial stabilization device is placed 0 And a measured value of pitch angle theta 0 ；
Measured value R 0 、E 0 、γ 0 、θ 0 Substituting into formulas (III) and (IV), calculating the pitching angle E of the visual axis under the geographic coordinate system d ：
E d ＝arcsin(txyyx31) (IV)
Wherein, the txyx 11, txyx 21 and txyx 31 are intermediate quantities;
measured value R 0 、E 0 、γ 0 、θ 0 Substituting the formula (V) (VI) into the formula (V) (VI), and calculating the roll angle R of the visual axis under the geographic coordinate system d ：
R d ＝arcsin(txyyx31′) (VI)
Wherein, X -1 Y -1 Outputting an inverse transformation matrix of the vector transformed from the carrier coordinate system to the local geographic coordinate system for the navigation equipment, wherein the inverse transformation matrix is firstly rolling angle transformation and then pitching angle transformation; r j -1 E j -1 An inverse transformation matrix for transforming the two-axis frame vector from the two-axis frame coordinate system to the carrier coordinate system is formed by firstly transforming a pitch angle and then transforming a rolling angle; wherein, txyyx11 ', txyyx21 ', txyyx31 ' are intermediate quantities;
has the advantages that:
the invention introduces the measured value of the navigation equipment equipped on the inertial stabilization equipment, and calculates the motion condition of the two-axis frame structure according to the requirement of inertial stabilization so as to ensure the inertial stabilization of the two-axis frame. In calculation, based on the sequence of the inside and the outside of the installation frame, the coordinate transformation sequence is particularly considered in coordinate transformation, and the factor that the coordinate system coincides with the certain direction of the visual axis in the northeast is considered, so that simplification is performed, an inertia stable model with simple and accurate calculation is obtained, and the stability precision of the visual axis is improved.
Drawings
FIG. 1 is a flow chart of a method of apparent axis inertial stabilization for an inertial stabilization device having a two-axis frame in accordance with the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a visual axis inertia stabilization method of inertia stabilization equipment with a two-axis frame, which has the following basic idea: for a two-axis frame stabilizing device, an outer frame is a rolling ring, an inner frame is a pitching ring, and a visual axis is generally arranged on the inner frame; according to the output of navigation equipment equipped on inertial stabilization equipment, the invention determines the attitude angle of the two-axis frame to the local geographic coordinate system, and calculates the motion condition of the two-axis frame structure according to the requirement of inertial stabilization so as to ensure the inertial stabilization of the two-axis frame.
Firstly, defining symbol
The sign of the attitude of the vehicle (e.g. vehicle and aircraft) in which the inertial stabilization device is located defines: gamma is the roll angle of the carrier, theta is the pitch angle of the carrier (unit: radian); the carrier attitude is derived from the navigation device output vector in the present invention.
Orientation definition of carrier attitude: the transverse rolling angle of the carrier is that gamma is positive when the right chord of the carrier faces downwards, and is negative when the right chord of the carrier faces downwards; the carrier pitch angle theta takes the head-up as positive and the head-down as negative;
The sign definition of the two-axis frame angle (i.e., the boresight vector) in the inertial stabilization device: r is the frame roll angle and E is the frame pitch angle (R, E representing rotation in the respective axial direction, in radians);
the direction of the two-axis frame angle defines: a frame transverse roll angle R is positive when the right chord of the frame faces downwards; a frame pitch angle E, taking the frame head-up as positive;
the angle of the two-axis frame is corresponding to the angle after the coordinate transformation of the carrier: r j Represents the roll angle; e j Denotes pitch angle, A j Denotes the heading angle (azimuth) A in a two-axis frame system j Is 0 deg..
The angle of the two-axis frame is converted into the coordinate of the geodetic coordinate system, and then the corresponding angle is obtained: r d Represents the roll angle; e d Representing a pitch angle; a. the d Indicating the heading angle (azimuth), A in a two-axis frame system d Is 0 deg..
After the local geographic coordinate system converts the coordinates of the carrier, the corresponding angle is as follows: r j ' roll angle; e j The' pitch angle.
Forward transformation: the coordinate transformation from the local geographic coordinate system to the carrier coordinate system is called forward transformation, and the coordinate transformation from the carrier coordinate system to the two-axis frame coordinate system is also called forward transformation;
inverse transformation: the coordinate transformation from the two-axis frame coordinate system carrier coordinate system is called inverse transformation, and the coordinate transformation from the carrier coordinate system to the local geographical coordinate system is also called inverse transformation.
A positive transformation matrix of roll angle and pitch angle output by the navigation equipment:
and (3) transforming the roll angle and the pitch angle output by the navigation equipment from the carrier coordinate system to an inverse transformation matrix of a local geographic coordinate system:
and the roll angle and the pitch angle of the frame are transformed from a two-axis frame coordinate system to an inverse transformation matrix of a carrier coordinate system:
second, resolving the attitude of the visual axis to the local geographic coordinate system
2.1 coordinate transformation matrix
The method comprises the following steps: coordinate transformation from the boresight vector to the local geographic coordinate system. Coordinate transformation sequence: the visual axis vector is converted into a carrier coordinate system through rotation of the two-axis frame coordinate system, and then is converted into a local geographic coordinate system through rotation of the carrier coordinate system.
And (3) rotating and transforming the visual axis vector to a transformation matrix of the carrier coordinate system: r j -1 *E j -1 (Pitch and roll changes, movement from inner ring to outer ring). Wherein denotes multiplication of a matrix;
the carrier coordinate system is rotated to the transformation matrix of the local geographic coordinate system: x -1 *Y -1 (roll angle transformation and pitch angle transformation).
Therefore: [ local geographical coordinate system matrix ]]＝M d Vector of visual axis]
M d ＝X -1 *Y -1 *R j -1 *E j -1 (4)
2.2 resolution of boresight Pitch Angle
The method comprises the following steps: taking a coordinate vector [ 0] on a visual axis from a vector coincident with the Y axis in the OXYZ coordinate system in the northeast; 1; 0].
Transforming the coordinates to obtain a visual axis vector [ 0; 1; 0] coordinate transformation into geodetic geographic coordinate system:
Let the intermediate amount be [ txyyx 11; txyyx 21; txyyx31], then
The elevation angle E of the visual axis in the local geographic coordinate system d :
E d ＝arcsin(txyyx31) (6)
E d Only txyx 31 was used in the solution of (a).
2.3 resolving of the roll angle of the visual axis
The method comprises the following steps: taking a coordinate vector [ 1] on a visual axis from a vector coincident with an X axis in an OXYZ coordinate system in northeast; 0; 0].
Transforming the coordinates to obtain a visual axis vector [ 1; 0; 0] coordinate transformation into geodetic geographic coordinate system:
setting the intermediate quantity as [ tzxyzyx 11'; tzxyzyx 21'; tzxyz 31' ], then:
the roll angle R of the visual axis in the local geographic coordinate system d ：
R d ＝arcsin(txyyx31′) (8)
R d Only txyyx 31' was used in the solution of (1).
Thirdly, when the visual axis keeps stable inertia, the attitude calculation compensation angle algorithm
The method comprises the following steps: and transforming the two-axis frame coordinate system to a carrier coordinate system, transforming the local geographic coordinates of the visual axis to the carrier coordinates, obtaining a vector representation form under the carrier coordinate system through the two transformations, solving an equation at two sides, and further solving the angles of the compensated pitch angle and the roll angle.
3.1 two-axis frame coordinate System to Carrier coordinate System transformation
And obtaining the pitch angle and the roll angle of the visual axis relative to the carrier through the transformation from the two-axis coordinate system to the carrier coordinate system. The transformation sequence from the two-axis coordinate system to the carrier coordinate system is as follows: pitch angle transformation followed by roll angle transformation (matrix transformation sequence of inner ring followed by outer ring), that is: r -1 *E -1 . R and E in the following formula are frame angle values.
[ Deck coordinate System matrix ]]＝R j -1 *E j -1 Coordinate matrix of visual axis two-axis frame]
1) Calculation of pitch angle
As can be seen from the coordinate transformation principle: the vector on the visual axis can be expressed as:
taking the vector on the visual axis: [ 0; 1; 0] and the vector coincident with the X-axis in the OXYZ coordinate system in the northeast of the year, then there is
Then the pitch angle is calculated j Arcsin (t31) (R is frame roll angle and E is frame pitch angle).
2) Calculation of roll angle
As can be seen from the coordinate transformation principle: the vector on the visual axis can be expressed as:
taking a coordinate vector [1 ] on a visual axis; 0; 0] vector coincident with the Y-axis in the northeast xyz coordinate system.
Then the roll angle is calculated as R j Arcsin (t311) is R (R is the frame roll angle).
3.2 transformation from the local geographic coordinate System to the Carrier coordinate System
And the pitch angle and the roll angle of the local geographical coordinate system of the visual axis relative to the carrier coordinate system are obtained through the visual axis attitude information which is stably set manually or automatically by the visual axis. Transformation order of coordinate system: firstly, the roll angle is changed and then the pitch angle is changed.
A special visual axis stable horizontal condition is adopted, namely when the visual axis is kept relative to the visual axis, the pitch angle of the visual axis under a relatively large geographic coordinate is 0 degrees, and the rolling is 0 degrees.
[ Deck coordinate system matrix ] ═ Y X [ visual axis local geographic coordinate matrix ].
1) Pitch angle solution
γ, θ, Ψ are the carrier attitude angles (roll, pitch, and heading, respectively) measured by the inertial navigation system.
According to the coordinate transformation principle, the visual axis is represented on the local geographical coordinate system as:
according to A d ，E d The upper value (derived from equation 6, since there is no heading axis in the two-axis frame, A d Take the value of 0), coordinate transformation is performed as follows:
2) roll angle calculation
According to the principle of coordinate transformation, the visual axis is localRepresented geographically as:
according to A d ，R d The upper value (derived from equation 8, since there is no heading axis in the two-axis frame, A d Take the value of 0), coordinate transformation is performed as follows:
3.3 calculation of the amount of compensation for the two-axis frame Angle
The attitude values in the carrier coordinate system obtained by 3.1 and 3.2 should be consistent because the inertia of the visual axis is kept stable. And solving the roll angle and the pitch angle of the frame angle through an equation.
Solving the above equation (15) can obtain:
1) roll angle
-sin R end ＝sinγcos R d -cosγ*cosθ*sin R d (16)
So the amount of roll in the two-axis frame angle can be solved to end up as: r end 。
The compensation angle of the rolling is R c ＝R end -R (R is a frame roll angle measurement acquired in real time).
2) Pitch angle
cos E end cos R end ＝-sinθcosγ*cos E d +cosγcosθsin E d (17)
R end Calculated by the formula 16, the final pitch amount of the two shafts can be solved as E end ：
Compensation angle of pitch is E c ＝E end E (E is a frame pitch angle measurement acquired in real time).
Based on the derivation of the above formula, the working flow of the present invention is described in detail below with reference to fig. 1.
Step one, when inertial stabilization is required, obtaining the roll angle R of the visual axis of the two-axis frame under a geographic coordinate system through a manual setting mode or a preset algorithm d And a pitch angle E d 。
Wherein, the roll angle R of the visual axis of the two-axis frame under the geographic coordinate system is obtained through a preset algorithm d And a pitch angle E d The implementation mode of the method is as follows:
step (11) collecting a roll angle measurement value R of the primary two-axis frame by using a frame angle measurement device 0 And a measured value of pitch angle E 0 (ii) a Acquiring roll angle measurement gamma of primary carrier by using navigation equipment 0 And a measured value of pitch angle theta 0 ；
Step (12) of reacting R 0 、E 0 、γ 0 And theta 0 Substituting into formula (5) which is one of attitude algorithms of the visual axis under the geographic coordinate system to obtain the intermediate quantity txyx 31, and then obtaining the pitch angle E of the visual axis under the geographic coordinate system by using formula (6) d (ii) a In the same way, the R 0 、E 0 、γ 0 And theta 0 Substituting the formula (7) as the second attitude algorithm of the visual axis in the geographic coordinate system to obtain the intermediate quantity txyx 31', and then obtaining the roll angle R of the visual axis in the geographic coordinate system by using the formula (8) d 。
And step two, acquiring the roll angle gamma and the pitch angle theta of the carrier where the inertial stabilization equipment output by the navigation equipment is located in real time.
Step three, mixing gamma, theta and R d The final roll angle calculation formula input to the inertial stabilization algorithm, i.e., formula (16), can solve the final roll angle R in the two-axis frame angle end 。
Step four, mixing gamma, theta and E d And R end The final pitch angle E in the two-axis frame angle can be obtained by the final pitch angle calculation formula (17) inputted to the inertial stabilization algorithm end And final roll angle R end 。
Step five, collecting two shafts in real time by utilizing a frame angle measuring deviceRoll angle measurement R and pitch angle measurement E of the frame, combined with the final roll angle R end And final pitch angle E end Using the formula R c ＝R end -R and E c ＝E end E solving the rolling compensation angle R c And compensation angle of pitch E c The two compensation angles are provided to a frame angle control device to control the angle of the frame.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (1)
1. A method of apparent axis inertial stabilization for an inertial stabilization device having a two-axis frame, comprising:
Step one, obtaining the roll angle R of the visual axis of the two-axis frame under the geographic coordinate system through a manual setting mode or a preset algorithm d And a pitch angle E d ；
Step two, acquiring a roll angle gamma and a pitch angle theta of a carrier where inertial stabilization equipment output by navigation equipment is located in real time;
step three, solving a final roll angle R in the two-axis frame angle by using a formula (I) end ：
-sinR end ＝sinγcosR d -cosγcosθsinR d (I)
Step four, based on the final roll angle R end Solving the final pitch angle E in the two-shaft frame angle by using a formula (II) end ：
cosE end cosR end ＝-sinθcosγcosE d +cosγcosθsinE d (II)
Step five, utilizing the roll angle measured value R and the pitch angle measured value E of the two-axis frame which are collected in real time to combine with the final roll angle R end And final pitch angle E end The following formula is adopted to solve the rolling compensation angle R c And compensation angle of pitch E c Provided for a two-axis frameAn angle control device:
R c ＝R end -R
E c ＝E end -E
in the step one, the roll angle R of the visual axis of the two-axis frame under the geographic coordinate system is obtained through a preset algorithm d And a pitch angle E d Comprises the following steps:
acquiring roll angle measurement value R of primary two-axis frame 0 And a measured value of pitch angle E 0 And roll angle measurement value gamma 0 and pitch angle measurement value theta of carrier on which inertial stabilization equipment is positioned 0 ；
Measured value R 0 、E 0 、γ 0 、θ 0 Substituting into formulas (III) and (IV), calculating the pitching angle E of the visual axis under the geographic coordinate system d ：
E d ＝arcsin(txyyx31) (IV)
Wherein, txyyx11, txyyx21 and txyyx31 are intermediate quantities;
measured value R 0 、E 0 、γ 0 、θ 0 Substituting the formula (V) (VI) into the formula (V) (VI), and calculating the roll angle R of the visual axis under the geographic coordinate system d ：
R d ＝arcsin(txyyx31′) (VI)
Wherein, X -1 Y -1 Outputting an inverse transformation matrix of the vector transformed from the carrier coordinate system to the local geographic coordinate system for the navigation equipment, wherein the inverse transformation matrix is firstly rolling angle transformation and then pitching angle transformation; r j -1 E j -1 An inverse transformation matrix for transforming the two-axis frame vector from the two-axis frame coordinate system to the carrier coordinate system is formed by firstly transforming a pitch angle and then transforming a rolling angle; wherein, txyyx11 ', txyyx21 ', txyyx31 ' are intermediate amounts;
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